Control device and method for landing point area and speed of deep sea lander

Abstract

The invention discloses a control device and method for the landing point area and the speed of a deep-sea lander. The device comprises a carrying platform, wing plates, a hydraulic system, an attitude sensor, an underwater sound communication machine and a control unit. The method comprises the steps of first, building a fixed coordinate system O2-xyz; second, building a follow-up coordinate system O1-xyz on the carrying platform; third, calculating a coordinate value of the center of the carrying platform in the fixed coordinate system; fourth, calculating a coordinate value of the central point of the landing area in the follow-up coordinate system, and marking the direction nt of a connection line from the central point of the landing area to the central point of the carrying platform;and fifth, enabling the direction of the resultant force of the thrust of one wing plate and the thrust of the other wing plate to be the same as the direction nt. According to the control device andmethod for the landing point area and the speed of the deep-sea lander, after the lander is affected by sea current in the diving process, adjustment can be carried out with the control method to make the lander get close to a target area continuously, the accuracy and energy consumption of landing can be adjusted by changing the control interval time delta t, and it is guaranteed that the landing point is within the expected detection area range.

Description

technical field [0001] The invention relates to a control device and method for the landing area and speed of a deep-sea lander, belonging to the field of marine detection equipment. Background technique [0002] The scope of human development and exploration of the ocean is becoming wider and wider. In the field of deep-sea exploration, the autonomous heave deep-sea lander provides effective technical support for exploring frontier scientific issues in the deep sea due to its low cost and high flexibility. [0003] Existing deep-sea landers rely on gravity and buoyancy to achieve submersion and floating. They do not have the ability to control speed and resist ocean currents. They are greatly affected by ocean currents. The lander lacks the active control function of movement and landing point, and it is difficult to land within the predetermined target range. . In addition, if the landing speed of the lander is too high, it will affect the device itself and underwater op...

AI Technical Summary

Problems solved by technology

[0003] Existing deep-sea landers rely on gravity and buoyancy to achieve submersion and floating. They do not have the ability to control speed and resist ocean currents. They are greatly affected by ocean currents. The lander lacks the active control function of movement and landing point, and it is difficult to la

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